Erfun Nejabat - Shiraz University, School of Mechanical Engineering
Seyyed.A Zarifkarfard - Shiraz University, School of Mechanical Engineering
Zahra Ataei - Shiraz University, School of Mathematics and Statistics

Formation problem of Unmanned Aerial Vehicles considered in this paper. The system linearized around hovering point and the controller based on error measurements from desired reference input has been designed and applied on single UAV and multiagent system as well. Tracking problem of UAV in order to reduce the error with the formation reference trajectory is the main control goal in this project, nevertheless the stability analyses and robustness examinations during the whole simulation shows that the system with designed controller is robust due to bounded uncertainty which is a validation to linearization because of VTOL flight model in UAVs.

UAV, VTOL, ROBUSTNESS, TRAJECTORY TRACKING, ERROR REDUCTION